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In this paper, the authors present the design, development and evaluation of a real-time target tracking system for wireless embedded nodes, capable of effectively tracking manoeuvring targets. The proposed tracking system is designed to operate solely on range measurements obtained with the use of a two-way time-of-flight method without the need for additional hardware being incorporated in the nodes. To address the challenge of coping with manoeuvring targets, the tracking problem is formulated as a dynamical estimation problem where an adaptive multiple-model approach is employed to represent the motion pattern of manoeuvring targets.
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